Optical-based weld travel speed sensing system

ABSTRACT

A travel speed sensing system includes an optical sensor configured to be coupled to a welding torch. The optical sensor is configured to sense light incident on the optical sensor, and the travel speed sensing system is configured to determine a travel speed of the welding torch, a direction of the welding torch, or both, based on the sensed light.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.13/740,964, entitled “OPTICAL-BASED WELD TRAVEL SPEED SENSING SYSTEM”filed Jan. 14, 2013, which claims priority to and benefit of U.S. patentapplication Ser. No. 61/597,556, entitled “WELD TRAVEL SPEED SENSINGSYSTEMS AND METHODS,” filed Feb. 10, 2012, each of which is hereinincorporated by reference in its entirety.

BACKGROUND

The invention relates generally to welding systems, and, moreparticularly, to sensing systems for monitoring a travel speed of awelding torch during a welding operation.

Welding is a process that has become ubiquitous in various industriesfor a variety of types of applications. For example, welding is oftenperformed in applications such as shipbuilding, aircraft repair,construction, and so forth. While these welding operations may beautomated in certain contexts, there still exists a need for manualwelding operations. In some manual welding operations, it may bedesirable to monitor weld parameters, such as the travel speed of thewelding torch, throughout the welding operation. While the travel speedof an automated torch may be robotically controlled, the travel speed ofthe welding torch in manual operations may depend on the operator'swelding technique and pattern. Unfortunately, it may be difficult tomeasure this weld motion during a welding operation due to features ofthe welding environment, operator considerations, and so forth.

BRIEF DESCRIPTION

In a first embodiment, a travel speed sensing system includes an opticalsensor configured to be coupled to a welding torch. The optical sensoris configured to sense light incident on the optical sensor, and thetravel speed sensing system is configured to determine a travel speed ofthe welding torch, a direction of the welding torch, or both, based onthe sensed light.

In another embodiment, a welding torch assembly includes a welding torchconfigured to generate a welding arc between the welding torch and aworkpiece. The welding torch assembly also includes an optical sensorcoupled to the welding torch and configured to output a signalindicative of light sensed by the optical sensor to a travel speedsensing system. The travel speed sensing system is configured todetermine a travel speed of the welding torch based on the signal.

In a further embodiment, a welding system includes a travel speedsensing system. The travel speed sensing system includes an array ofoptical sensors disposed about a weld area. The optical sensors areconfigured to sense light emitted from a welding arc produced by thewelding torch. The travel speed sensing system is configured todetermine a travel speed of the welding torch based on the sensed light.

DRAWINGS

These and other features, aspects, and advantages of the presentinvention will become better understood when the following detaileddescription is read with reference to the accompanying drawings in whichlike characters represent like parts throughout the drawings, wherein:

FIG. 1 is a block diagram of an embodiment of a welding system utilizinga welding torch;

FIG. 2 is a block diagram of an embodiment of the welding system of FIG.1 , including a travel speed sensing system for detecting a travel speedof the welding torch;

FIG. 3 illustrates an embodiment of the welding system of FIG. 2 ,including a camera monitoring array for determining the travel speed ofthe welding torch;

FIG. 4 illustrates an embodiment of the welding system of FIG. 2 ,including a camera mounted on the welding torch to determine a travelspeed of the welding torch;

FIG. 5 illustrates an embodiment of the welding system of FIG. 2 ,including an optical surface motion sensor module to determine a travelspeed of the welding torch;

FIG. 6 illustrates an embodiment of an optical system that may beassociated with the optical motion sensor of FIG. 5 to determine atravel speed of the welding torch;

FIG. 7 illustrates an embodiment of a mechanical arrangement capable ofholding an optical fiber alignment device against a workpiece weldsurface; and

FIG. 8 illustrates an embodiment of a welding system including a weldingglove and an integrated trackball device for determining a travel speedof a welding torch.

DETAILED DESCRIPTION

As described in detail below, provided herein are systems and methodsfor determining the travel speed of a welding device during a weldingoperation. The foregoing systems and methods may be used separately orin combination to obtain information during the welding operationrelating to the three dimensional speed of the welding torch along thesurface of the metal being welded. In some embodiments, these methodsmay be utilized in unconstrained or manual welding operations to offeradvantages over traditional systems in which it may be difficult tomeasure the weld motion. However, the foregoing systems and methods maybe utilized in a variety of suitable welding systems, such as automatedor robotic systems.

Present embodiments are directed toward systems and methods for sensinga travel speed of a welding torch using an optical detection system.More specifically, the disclosed systems include a travel speed sensingsystem that monitors a light or image associated with the welding systemvia at least one optical sensor, and detects or determines a travelspeed of the welding torch, a direction of torch movement, or both,based on the monitored light. The determined weld travel speed may beutilized to evaluate the heat input to a welding workpiece at a giventime. In addition, such information may be utilized to determine aposition, velocity, and/or orientation of the welding torch in certainembodiments. In some embodiments, the travel speed sensing system mayinclude a single optical sensor (e.g., cameras), or an array of opticalsensors, located throughout a weld area to detect a light emitted fromthe welding arc produced by the welding torch. The term “array” in thefollowing discussion refers to an arrangement of two or more elements(e.g., optical sensors). In other embodiments, a single optical sensormay be disposed on the welding torch, and the optical sensor may acquireimages representative of a surface in a weld area where the workpiecebeing welded. In such embodiments, the optical sensor may be part of anoptical surface motion sensor that emits light toward the surface of theworkpiece, and detects the light reflected from the surface. Bymonitoring a change in images, light emitted, or light reflected via oneor more optical sensors throughout the system, the travel speed sensingsystem may determine a change in spatial location of the welding torchwith respect to time.

Turning now to the figures, FIG. 1 is a block diagram of an embodimentof a welding system 10 in accordance with the present techniques. Thewelding system 10 is designed to produce a welding arc 12 on a workpiece14. The welding arc 12 may be of any type of weld, and may be orientedin any desired manner, including MIG, metal active gas (MAG), variouswaveforms, tandem setup, and so forth. The welding system 10 includes apower supply 16 that will typically be coupled to a power source 18,such as a power grid. Other power sources may, of course, be utilizedincluding generators, engine-driven power packs, and so forth. In theillustrated embodiment, a wire feeder 20 is coupled to a gas source 22and the power source 18, and supplies welding wire 24 to a welding torch26. The welding torch 26 is configured to generate the welding arc 12between the welding torch 26 and the workpiece 14. The welding wire 24is fed through the welding torch 26 to the welding arc 12, molten by thewelding arc 12, and deposited on the workpiece 14.

The wire feeder 20 will typically include control circuitry, illustratedgenerally by reference numeral 28, which regulates the feed of thewelding wire 24 from a spool 30, and commands the output of the powersupply 16, among other things. Similarly, the power supply 16 mayinclude control circuitry 29 for controlling certain welding parametersand arc-starting parameters. The spool 30 will contain a length ofwelding wire 24 that is consumed during the welding operation. Thewelding wire 24 is advanced by a wire drive assembly 32, typicallythrough the use of an electric motor under control of the controlcircuitry 28. In addition, the workpiece 14 is coupled to the powersupply 16 by a clamp 34 connected to a work cable 36 to complete anelectrical circuit when the welding arc 12 is established between thewelding torch 26 and the workpiece 14.

Placement of the welding torch 26 at a location proximate to theworkpiece 14 allows electrical current, which is provided by the powersupply 16 and routed to the welding torch 26, to arc from the weldingtorch 26 to the workpiece 14. As described above, this arcing completesan electrical circuit that includes the power supply 16, the weldingtorch 26, the workpiece 14, and the work cable 36. Particularly, inoperation, electrical current passes from the power supply 16, to thewelding torch 26, to the workpiece 14, which is connected back to thepower supply 16. The arcing generates a relatively large amount of heatthat causes part of the workpiece 14 and the filler metal of the weldingwire 24 to transition to a molten state, thereby forming the weld.

To shield the weld area from being oxidized or contaminated duringwelding, to enhance arc performance, and to improve the resulting weld,the welding system 10 also feeds an inert shielding gas to the weldingtorch 26 from the gas source 22. It is worth noting, however, that avariety of shielding materials for protecting the weld location may beemployed in addition to, or in place of, the inert shielding gas,including active gases and particulate solids.

Presently disclosed embodiments are directed to an optical-based travelspeed sensing system used to detect a change in position of the weldingtorch 26 over time throughout the welding process. In some embodiments,the travel speed of the welding torch 26 may refer to a change in threedimensional position of the welding torch with respect to time. In otherembodiments, the travel speed of the welding torch 26 may refer to achange in two dimensional position of the welding torch 26 within aplane parallel to a welded surface of the workpiece 14. Although FIG. 1illustrates a gas metal arc welding (GMAW) system, the presentlydisclosed techniques may be similarly applied across other types ofwelding systems, including gas tungsten arc welding (GTAW) systems andshielded metal arc welding (SMAW) systems. Accordingly, embodiments ofthe optical detection based travel speed sensing systems may be utilizedwith welding systems that include the wire feeder 20 and gas source 22or with systems that do not include a wire feeder and/or a gas source,depending on implementation-specific considerations.

FIG. 2 is a block diagram of an embodiment of the welding system 10,including a travel speed sensing system 50 in accordance with presentlydisclosed techniques. The travel speed sensing system 50 may include,among other things, a travel speed monitoring device 52 configured toprocess signals received from one or more optical sensors 54 disposedabout a weld area 56. The optical sensors 54 may be any desirable typeof sensor that converts light into a signal 62. For example, the opticalsensors 54 may include any number or arrangement of cameras disposedabout the weld area 56. The signal 62 generated by the optical sensors54 may include image data (e.g., pixel values) or any other appropriatearrangement of data representative of light intensity. The weld area 56may include a weld cell within which a welding operator is using thewelding system 10 to perform a welding operation. In some embodiments,the weld area 56 may include a surface or structure upon which theworkpiece 14 is located throughout the welding process, or the workpiece14 itself.

The optical sensor 54 may be used to monitor a light 58 that isindicative of the position of the welding torch 26, and the light 58 maycome from a light source 60 within the weld area 56. For example, thelight 58 may be emitted directly from the welding arc 12 produced by thewelding torch 26. In other embodiments, the light 58 may be reflectedfrom a surface in the weld area 56. The one or more optical sensors 54may convert the light 58 incident on the optical sensors 54 into one ormore signals 62, which may include image data. The travel speed sensingsystem 50 may then transmit the signals 62 to a processor 64 of thetravel speed monitoring device 52.

As shown, the travel speed monitoring device 52 may include theprocessor 64, which receives inputs such as image data from the opticalsensors 54 via the signal 62. Each signal 62 may be communicated over acommunication cable, or wireless communication system, from the one ormore optical sensors 54 located throughout the weld area 56. In anembodiment, the processor 64 may also send control commands to a controldevice 66 of the welding system 10 in order to implement appropriateactions within the welding system 10. For example, the control device 66may control a welding parameter (e.g., power output, wire feed speed,gas flow, etc.) based on the determined travel speed of the weldingtorch 26. The processor 64 also may be coupled with a display 68 of thetravel speed monitoring device 52, and the display 68 may provide avisual indicator of the travel speed of the welding torch 26 based onthe determined travel speed.

Further, the processor 64 is generally coupled to a memory 70, which mayinclude one or more software modules 72 that contain executableinstructions, transient data, input/output correlation data, and soforth. The memory 70 may include volatile or non-volatile memory such asmagnetic storage memory, optical storage memory, or a combinationthereof. Furthermore, the memory 70 may include a variety of machinereadable and executable instructions (e.g., computer code) configured toprovide a calculation of weld travel speed, given input optical-basedsensor data. Generally, the processor 64 receives such sensor data fromthe one or more optical sensors 54 in the weld area 56, and referencesdata stored in the memory 70 to implement such calculation. In this way,the processor 64 is configured to determine a travel speed of thewelding torch 26, based at least in part on the signal 62.

In some embodiments, the travel speed sensing system 50 may be providedas an integral part of the welding system 10 of FIG. 1 . That is, thetravel speed sensing system 50 may be integrated into a component of thewelding system 10, for example, during manufacturing of the weldingsystem 10. For example, the power supply 16 may include appropriatecomputer code programmed into the software to support the travel speedsensing system 50. However, in other embodiments, the travel speedsensing system 50 may be provided as a retrofit kit that may enableexisting welding systems 10 with the optical-based travel speed sensingcapabilities described herein. The retrofit kit may include, forexample, the travel speed sensing system 50, having the processor 64 andthe memory 70, as well as one or more optical sensors 54 from which thetravel speed sensing system 50 receives sensor input. In someembodiments, the retrofit kit may also include the welding torch 26,having the optical sensor 54 and/or a light emitting device installedthereon. To that end, such retrofit kits may be configured as add-onsthat may be installed onto existing welding systems 10, providing travelspeed sensing capabilities. Further, as the retrofit kits may beinstalled on existing welding systems 10, they may also be configured tobe removable once installed.

FIG. 3 illustrates an embodiment of the welding system 10 of FIG. 2 ,capable of determining the travel speed of the welding torch 26 during awelding operation. In the illustrated embodiment, the welding torch 26is utilized to produce the welding arc 12 on the workpiece 14, which isa metal pipe in the depicted example. The illustrated welding system 10also includes the travel speed sensing system 50, in which the one ormore optical sensors 54 include a camera monitoring array 90 surroundingthe weld area 56. The camera monitoring array 90 includes a plurality ofcameras 92, 94, 96, 98, 100, 102, and 104 spaced about the weld area 56.In certain embodiments, each camera may include an imager or a precisionspaced and aligned dual imager stereo camera. Further, in someembodiments, the cameras may be arranged so that two or more camerasmaintain a suitable line of sight to the welding arc 12 at a given time.For example, in the illustrated embodiment, the cameras 92, 94, and 96maintain lines of sight represented by arrows 106, 108, and 110,respectively, to the welding arc 12. As described in more detail below,the cameras may determine the location of the welding arc 12 using imageprocessing techniques, such as stereo image comparison, triangulation,pixel mapping, or any other suitable technique known to those skilled inthe art.

More specifically, during operation, in one embodiment, the cameramonitoring array 90 may be used to monitor changes in the position ofthe welding torch 26 by identifying light emitted from the welding arc12. That is, the welding arc 12 functions as the light source 60 of thetravel speed sensing system 50 in the illustrated embodiment. In certainembodiments, light filters may be placed between the imager and thewelding torch 26 to reduce or eliminate the background light reachingthe imager. The foregoing feature may offer the advantage of simplifyingthe process of removing background light from the image. Further, insome embodiments, the filters may also be designed to reduce the brightlight directly from the welding arc 12 to a smaller, more point-likeemission from the brightest point of the welding arc 12 for positionlocalization. In embodiments in which the welding motion is limited to aplane or other predefined surfaces, it may be possible to map thesurface(s) to pixels in the imager, thereby enabling tracking of thechanges in position of the welding torch 26 as a function of time. Insuch embodiments, a single imager may be utilized to determine theposition of the welding torch 26, assuming the welding arc 12 is visibleto the imager. In other embodiments, such as embodiments includingunconstrained welding motion, two or more cameras may be utilized tolocate the welding arc 12, and the travel speed sensing system 50 maycalculate changes in position of the welding torch 26 with respect totime using any suitable stereo or geometric triangulation techniques.

In certain embodiments, each camera illustrated in FIG. 3 may representa stereo camera pair, and each pair may be mounted in a single housingto monitor the welding operation. In some embodiments, the alignment andspacing of each imager pair mounted in a single housing may becontrolled to address implementation-specific alignment or calibrationparameters of the travel speed sensing system 50. In some embodiments,each stereo camera may be a “smart” camera having onboard processinghardware capable of processing the received images and sharing arelative location of the welding arc 12 with the travel speed monitoringdevice 52, thus reducing the amount of information to be shared by thecamera array network and reducing the computational power necessary atthe processor 64.

FIG. 4 illustrates another embodiment of the welding system 10 of FIG. 2, including the travel speed sensing system 50 used to determine atravel speed of the welding torch 26. In the illustrated embodiment, theone or more optical sensors 54 include a camera 120 mounted to thewelding torch 26. The camera 120 may be used to monitor changes in theposition of the welding torch 26 by identifying a region 122 of asurface 124 of the workpiece 14. The region 122 may be identified onsurfaces located throughout the weld area 56 that are not limited to thesurface 124 of the workpiece 14. For example, the surface could be asurface of a structure upon which the workpiece 14 is located. Becausethe camera 120 is mounted to the welding torch 26, the region 122detected by the camera 120 changes as the welding torch 26 is movedrelative to the workpiece 14. It may be desirable for the camera 120 tobe mounted to the welding torch 26 such that a line of sight 126 of thecamera is substantially parallel (e.g., within 5 degrees) with an axisof a torch tip 128 of the welding torch 26. The camera 120 may include arange finding mechanism (e.g., dual imager stereo camera) used todetermine a distance between the camera 120 and the surface 124, and thetravel speed sensing system 50 may determine the travel speed of thewelding torch 26 partly based on this distance. That is, the travelspeed monitoring device 52 may use the determined distance to correctfor changes in tip-to-work distance of the welding torch 26 throughoutwelding. Other types of range finding mechanisms may include sonicranging systems, acoustic range finders, and laser range finders, amongothers.

The travel speed sensing system 50 may utilize any number of suitableimage processing techniques to determine travel speed of the weldingtorch 26 based on the monitored image. For example, certain featuresvisible in the region 122 may be detected at different positions withinthe image collected via the camera 120 throughout the welding operation.The processor 64 may compare these positions via optical flow algorithms(e.g., pixel mapping techniques) to determine the distance traveled bythe welding torch 26 over a given time interval, thus determining thetravel speed of the welding torch 26.

In some embodiments, the workpiece 14 may be prepared with incrementalmarkings such that the position of the welding torch 26 may bedetermined based on the images acquired via the camera 120, if aninitial position and orientation of the welding torch 26 are known. Forexample, the surface 124 may be modified by the application of a highcontrast pattern to enhance the ability of the travel speed sensingsystem 50 to track torch motion. The pattern may be applied to thesurface 124 as tape, paint, or projected light. The pattern may provideedges or regions of alternating light intensity when viewed by theoptical sensor 54, and these edges may allow the travel speed sensingsystem 50 to more easily track the relative motion between the camera120 and the monitored surface 124. The pattern may include, for example,checkerboard tape applied to the surface 124, white paint with blackspeckle spray painted on the surface 124, or a grid of light projectedonto the surface 124 by a laser or LED.

It should be noted that in other embodiments, one or more additionalcameras may be located at any other suitable location around the weldingtorch 26, for example, on an opposite side of the welding torch 26. Insuch embodiments, this additional camera may provide surface motioninformation that may be used to detect a rotation of the welding torch26 and/or a tip-to-work distance of the welding torch 26 that may not beavailable using only one camera. In addition, the multiple cameras mayprovide redundant surface motion information that may be utilized if thedirection of welding points one of the two cameras 120 toward ahot/molten trailing weld bead. Light emitted from the weld bead mayotherwise saturate or obscure the light information collected via thecamera 120. In some embodiments, the camera 120 may be configured tooperate with a relatively high dynamic range (e.g., utilizing alogarithmic optical sensor) to avoid saturation of the images due toflashing of the welding arc 12. In some embodiments, it may be possiblefor an camera 120 or imager to set the gain for the image by operatingin a rolling shutter mode, processing the amount of light seen by thefirst several pixels and adjusting the exposure time or gain for therest of the image based upon the light level observed by those first fewpixels, to avoid saturation in the rest of the image. In otherembodiments, the travel speed monitoring device 52 may utilize multipleexposure techniques to correct for saturation of the images collected.More specifically, the camera 120 may acquire multiple images and sendthe image data to the processor 64, which then combines the images todetermine an image with a desired exposure. The processor 64 thenprocesses this new image to determine the weld travel speed of thewelding torch 26.

Although the illustrated camera 120 is coupled to the welding torch 26at a position relatively far from the torch tip 128, it may be desirablein other embodiments for the camera 120 (or other optical sensor 54) tobe located near the torch tip 128. In such embodiments, a protectivecovering may be disposed over the optical sensor 54 to protect theoptical sensor 54 from weld spatter. This protective covering mayinclude a plastic and/or optically clear covering that weld spatter doesnot readily stick to or pit.

FIGS. 5-7 illustrate additional embodiments of systems and methodscapable of determining the travel speed of the welding torch 26 byutilizing a variety of optical arrangements. Specifically, FIG. 5illustrates an embodiment of the welding system 10 of FIG. 2 wherein thetravel speed sensing system 50 includes an optical surface motion sensor130 disposed on the welding torch 26. In the illustrated embodiment, theoptical sensor 54 and the light source 60 (surface illumination lightsource) are located in the optical surface motion sensor 130. In thisway, the optical surface motion sensor 130 is configured to output lighttoward the surface 124 of the workpiece 14 via the surface illuminationlight source and to monitor the light reflected from the surface 124 viathe optical sensor 54.

In the illustrated embodiment, surface illumination light is carriedfrom the illumination light source by an illumination optical fiber 132closer to the surface 124 of the workpiece 14 being welded. Duringoperation, light exits the illumination optical fiber 132, strikes thenearby surface 124 of the workpiece 14 and some of this light isreflected. A light collection optical fiber 134 captures at least aportion of the reflected light and transmits it back to the opticalsensor 54 located in the optical surface motion sensor 130. It should benoted that the fibers 132 and 134 may be made of any suitable materialcapable of withstanding typical weld temperatures, such as hightemperature glass/plastic that is cladded, coated, or jacketed with hightemperature resistant material. Further, in some embodiments, thenumerical aperture of the optical fibers may be chosen to optimize thecollection of reflected/scattered light from the surface 124.

Further, an optical fiber alignment device 136 holds and maintains theoptical fibers at the desired angle such that the central ray of lightemitted from the illumination optical fiber 132 enters the center of thelight collection optical fiber 134 if it experiences specular reflectionfrom the surface 124 when the welding angle is approximately zerodegrees. The optical fiber alignment device 136 also holds the fibersrelative to the torch tip 128. In some embodiments, the optical fiberalignment device 136 may include collimators, lenses, or filters tomaximize the reflected light collected and minimize light entering theoptical fibers directly from the welding arc 12.

It should be noted that in other embodiments, an additional pair ofillumination and light collection optical fibers may be located at anyother suitable location around the welding torch 26, for example, on theopposite side of the torch tip 128. In such embodiments, this additionalpair of fibers may be connected to separate illumination light sourcesand light sensors in the optical surface motion sensor 130, therebyproviding redundant surface motion information. This redundancy may bedesirable if the direction of welding points one of the two pairs ofsensors at a hot/molten trailing weld bead 138.

In the welding system 10 illustrated in FIG. 5 , light is emitted ontothe surface 124 and some of that light is reflected back into theoptical sensor 54, which may be a multiple pixel image sensor. In onemode of operation, successive high speed images may be acquired andcompared to enable tracking of the motion of features in the image as afunction of time across the pixels of the imager. The rate oftranslation of these features across the imager field of view may beinterpreted as a weld travel speed corresponding to the travel speed ofthe welding torch 26 throughout the welding operation, assuming thedistance between the imager and the surface 124 remains relativelyconstant and the angle at which the imager views the surface 124 remainsrelatively constant.

In some embodiments, phase-based algorithms may be utilized in the imageprocessing schemes as well. Such techniques may be particularly usefulin variable lighting conditions, such as those experienced near thewelding arc 12. That is, phase based algorithms may be less susceptibleto changes in brightness from frame to frame due to variable lightingproduced by the welding arc 12. These algorithms may utilize, forexample, a Fourier transform, convolution with Gabor filters, high-passor band-pass filtering, or any other appropriate methods to estimate alocal phase in the image before processing with an optical flowalgorithm. The local phase may include features (e.g., edges) that arenot easily identifiable based on light intensity. The travel speedmonitoring device 52 may estimate the local phase, and then monitorregional changes in the phase over time (e.g., successive images) toestimate a relative motion of the welding torch 26. In this way, thetravel speed sensing system 50 may apply optical flow algorithms thatutilize the estimated local phase from at least a portion of collectedimages to determine the overall motion, and thus weld travel speed.

FIG. 6 illustrates an embodiment of certain components that may bepresent in the optical surface motion sensor 130 located on the weldingtorch 26 of FIG. 5 . In the depicted embodiment, light is emitted from alight source 150 (e.g., a laser) coupled to the illumination opticalfiber 132. The light travels down the illumination optical fiber 132 andthrough a lens 152 held within the optical fiber alignment device 136.Light is emitted at an angle 154 with respect to the optical fiberalignment device 136, as indicated by arrow 156. A portion of the lightreflects off of the surface 124 of the workpiece 14 and reaches theentrance to the light collection optical fiber 134, as indicated byarrow 158. In the illustrated embodiment, the light passes throughcollimators or filters 160 and a lens 162 before entering the lightcollection optical fiber 134. In certain embodiments, the angle 154 maybe based upon an average expected tip-to-work distance 164 such thatspecular reflections will enter the light collection optical fiber 134that is angled at an opposing (but similar value) angle 166. The lightthat exits the light collection optical fiber 134 enters a lens 168 thatfocuses the light upon an imager 170. In some embodiments, the lightsource 150 may output a narrow band of light frequencies, and thefilters 160 may be configured to accept primarily those frequenciesemitted by the light source 150. This may increase a signal to noiseratio of the light collected from the light source 50 as compared withexternal variable intensity lighting. In this way, the optical surfacemotion sensor 130 is configured to filter the light reflected from thesurface 124 via the filters 160 to produce a filtered light at one ormore desired frequencies, so that only the filtered light is sensed viathe imager 170.

It should be noted that this type of optical surface motion sensor 130may be used in a redundant system to detect a distance from the opticalsurface motion sensor 130 to the workpiece 14. The optical surfacemotion sensor 130 may automatically adjust a focus length of the imagingsystem based on the detected distance from the sensor to the workpiece14. The optical fibers 132, 134 may enable delicate electronics locatedin the optical surface motion sensor 130 to be mounted at a location ofthe welding torch 26 away from the welding arc 12. In other embodiments,however, the optical surface motion sensor 130 may be mounted to thewelding torch 26 near the torch tip 128. Such optical surface motionsensors 130 may include relatively heat-resistant, shock-resistanceimagers that monitor the surface 124 directly through a lens, and notvia optical fibers.

It should be noted that in some embodiments, the angle of the weldingtorch 26 relative to the surface 124, as well as the tip-to-workdistance 164 of the welding torch 26, may vary over time during awelding operation. It may be desirable for the welding system 10 to becapable of correcting for such changes in welding torch position, inorder to determine an accurate weld travel speed. In some embodiments,the torch angle or changes in the torch angle over time may be sensedand utilized to correct the travel speed estimate. For example, in theembodiment shown in FIG. 5 , an inclinometer 172, such as anelectrolytic tilt sensor or low-G triaxial accelerometer, may be placedon the welding torch 26 to measure torch angle, thus enabling changes inthe angle of the welding torch 26 to be monitored. Further, for torchangles approximately perpendicular to the surface 124, relatively smallchanges in angle may lead to predictable small translations in theimages received by the imager. These translations due to torch anglechanges may be subtracted from the overall observed motion prior tomaking a weld travel speed determination. However, in other embodiments,any of a variety of suitable techniques may be utilized to monitor andaccommodate changes in the torch angle of the welding torch 26. Forexample, in another embodiment, the optical fiber alignment device 136may be placed in contact with the surface 124.

FIG. 7 illustrates an embodiment of the welding system 10, including asuitable mechanical arrangement for holding the optical fiber alignmentor mechanical rolling device 136 against the surface 124 of theworkpiece 14. The illustrated arrangement may maintain the optical fiberalignment device 136 in this position for a variety of torch angles(i.e., angles from the welding torch 26 to the surface 124) and a rangeof distances from the torch tip 128 to surface 124. The optical fiberalignment device 136 is connected to the welding torch 26 by amechanical linkage assembly 180, which may include an attachment ring182, an upper link 184, a lower link 186, a return force element 188,and a joint 190. In the illustrated embodiment, the attachment ring 182enables the upper link 184 to be positioned through a range of anglesrotating around an axis parallel to the major axis of the torch tip 128.This rotation may enable an operator to place the optical fiberalignment device 136 in a location that will not interfere with the weldbead 138 or obstacles associated with the surface 124 and will not blockthe operator's field of view of the welding arc 12.

The upper link 184 is connected to the lower link 186 by a slidinglinkage that allows the upper and lower link to slide relative to oneanother along their lengths. In the illustrated embodiment, the slidinglinkage includes a return force element 188, such as a spring, to allowthe optical fiber alignment device 136 to maintain contact with thesurface 124 as the distance between the welding torch 26 and surface 124changes. The lower link 186 is attached to the optical fiber alignmentdevice 136 by the joint 190, which may be a ball joint. The joint 190may enable the relative angle between the optical fiber alignment device136 and the lower link 186 to change such that the optical fiberalignment device 136 and the surface 124 maintain a substantiallyconstant contact angle. The illumination optical fiber 132 and the lightcollection optical fiber 134 may be held at predetermined locations tothe welding torch 26 and/or to the mechanical linkage assembly 180 in away that holds the fibers while enabling them to flex or translate withthe linkage, while reducing mechanical stress induced in the fibers.

FIG. 8 illustrates an embodiment of components of the travel speedsensing system 50 including a welding glove 200 and a trackball device202. One or more low-profile trackballs 204 may be located on thewelding glove 200, such as in a region 206 of the welding glove 200where the operator might naturally drag the welding glove 200 across thesurface 124 while welding. Further, in another embodiment, the trackballdevice 202 may be located on any other suitable welding accessory, suchas on a wristband or armband worn by the operator or at the end of themechanical linkage assembly 180 described above and shown in FIG. 7 . Inanother embodiment, the trackball 204 or other mechanical roller may bean optical surface motion sensor configured to be moved across thesurface 124.

It should be noted that the trackball 204 may be any suitable mechanicaldevice, such as a cylinder or wheel, that could be used to measure aninstantaneous speed of the welding glove 200 and, therefore, of thewelding torch 26, across the workpiece 14. For example, in anembodiment, the trackball 204 may include one or more low profile ballsincorporated into the welding glove 200. The trackball device 202 may beincorporated into the welding glove 200 along an edge of the weldingglove 200 near the lower palm on the pinkie finger side of the weldingglove 200. In this embodiment, rotation of the trackballs 204 may betranslated into a speed of the welding glove 200 along the surface 124as long as the balls maintain contact with the surface 124. Thetrackball 204 may be made of a material capable of withstanding hightemperatures typically associated with the workpiece 14. This may reduceany undesirable deformation of the trackball 204 as it grips the metal,so that slippage does not occur if the welding glove 200 is drug acrossthe surface 124 with light pressure against the surface 124.

Rotation of the trackballs 204 may be measured with suitable opticalencoders included in the trackball device 202. In some embodiments, thetrackball 204 may have a pattern on its surface to enable the use ofoptical image processors to measure a rate of rotation in any directionof the trackball 204. Other standard encoder methods for measuring ballrotation may be used in other embodiments.

In the illustrated embodiment, a single trackball 204 is utilized.However, in other embodiments, multiple balls may be distributed overthe edge and heel of the welding glove 200, thereby enabling greatervariation in the welder hand position and contact points with thesurface 124 being welded. In such embodiments, signals (e.g., 62) fromthe plurality of balls may be combined, for example, via averaging,after selecting only the balls fully involved (continuously moving) inmotion detection at a given moment. Still further, glove trackballelectronics may be battery powered, and the signal 62 from the glovetrackball may be wirelessly transmitted to the travel speed monitoringdevice 52 to eliminate the need for wires to the welding glove 200.

Additionally, it should be noted that instead of using a mechanicaltrackball 204, in other embodiments, the surface 124 may be monitoredvia an optical surface motion sensor, such as the optical surface motionsensor 130 of FIGS. 5-7 . More specifically, the light source 60 and theoptical sensor 54 may be integrated into a device built into the region206 of the welding glove 200 to be placed in contact with the surface124. A glove structure housing the light source 60 and the opticalsensor 54 may be designed to maintain a desired distance between theoptical sensor 54 and the surface 124 for proper focusing. Such a glovestructure could be made of a smooth, relatively low friction material toallow the welding glove 200 to slide across the surface 124.

In certain embodiments, it may be desirable to determine and monitor thetravel speed of the welding torch over the total distance of the partbeing welded and not the total distance travelled by the welding torch.That is, in instances in which the operator performs a weld in atraditional pattern, such as weaving, the welding torch may travel alarge distance while only covering a small portion of the workpiece. Ifsuch a technique is used by the operator, the interpretation of the weldtravel speed signal may be adjusted to compensate for the weaving motionto derive the travel speed along the primary direction of the weld.

While only certain features of the invention have been illustrated anddescribed herein, many modifications and changes will occur to thoseskilled in the art. It is, therefore, to be understood that the appendedclaims are intended to cover all such modifications and changes as fallwithin the true spirit of the invention.

The invention claimed is:
 1. A travel speed sensing system, comprising:a hand held welding torch; an image sensor coupled to the hand heldwelding torch, the image sensor being configured to capture images of asurrounding environment; and a torch monitor configured to: identify,during a welding operation, one or more features of the surroundingenvironment in the images captured by the image sensor coupled to thehand held welding torch, track, over a period of time, a motion of theone or more features identified in the images captured by the imagesensor coupled to the hand held welding torch, and determine, during thewelding operation, a real-time travel speed of the hand held weldingtorch, or a real-time travel direction of the hand held welding torch,based on the motion of the one or more features identified in the imagescaptured by the image sensor coupled to the hand held welding torch. 2.The travel speed sensing system of claim 1, wherein the torch monitorcomprises processing circuitry and memory circuitry, the memorycircuitry comprising one or more software modules comprising executableinstructions that, when executed, cause the processing circuitry toidentify the one or more features, track the motion of the one or morefeatures, and determine the real-time travel speed based on the motionof the one or more features.
 3. The travel speed sensing system of claim1, wherein the surrounding environment includes a surface that isaugmented by application of a visible pattern to the surface, and atleast some of the images captured by the image sensor include thevisible pattern, thereby enhancing the ability of the torch monitor totrack the motion of the one or more features.
 4. The travel speedsensing system of claim 1, further comprising a light source configuredto output light toward a surface in a weld area.
 5. The travel speedsensing system of claim 4, further comprising: a first optical fiberconfigured to carry the light output from the light source toward thesurface; and a second optical fiber configured to carry the lightreflected from the surface to the image sensor.
 6. The travel speedsensing system of claim 4, further comprising a filter configured tofilter the light reflected from the surface to produce a filtered lightat one or more desired frequencies, the image sensor configured to sensethe filtered light.
 7. The travel speed sensing system of claim 1,wherein the torch monitor is further configured to: track the motion ofthe one or more features by identifying different positions of the oneor more features in the images captured by the image sensor, anddetermine the real-time travel speed or real-time travel direction ofthe hand held welding torch based on a difference between the differentpositions of the one or more features in successive images of the imagescaptured by the image sensor.
 8. The travel speed sensing system ofclaim 1, wherein the torch monitor is further configured to: estimate alocal phase in two or more successive images of the images captured bythe image sensor using a transform, convolution, or filter, and monitorchanges in the local phase in the successive images to determine thereal-time travel direction or real-time travel speed of the hand heldwelding torch comprising a sensor disposed on the hand held weldingtorch, wherein the sensor is configured to sense a parameter indicativeof an angle of the hand held welding torch, and wherein the torch. 9.The travel speed sensing system of claim 1, wherein the hand heldwelding torch is a manual welding torch comprising a handle.
 10. Thetravel speed sensing system of claim 9, wherein the image sensor isconfigured to be coupled to the hand held welding torch such that a lineof sight of the image sensor is substantially parallel with an axis of atorch tip of the hand held welding torch, the handle including a triggeror being coupled to a neck that leads to the torch tip of the hand heldwelding torch.
 11. The travel speed sensing system of claim 1, whereinthe real-time travel speed of the hand held welding torch is used toevaluate a heat input to a welding workpiece during the weldingoperation.
 12. The travel speed sensing system of claim 1, wherein thetorch monitor is further configured to determine, during the weldingoperation, a position or orientation of the hand held welding torchbased on the real-time travel speed.
 13. The travel speed sensing systemof claim 1, further comprising a range finder configured to determine adistance between the optical sensor and a surface, the torch monitorfurther configured to determine a contact tip to work distance of thehand held welding torch based on the distance.
 14. The travel speedsensing system of claim 5, further comprising a fiber aligner configuredto hold the first optical fiber and second optical fiber at a desiredangle.
 15. The travel speed sensing system of claim 14, wherein thefiber aligner comprises a collimator, lens, or filter configured tomaximize reflected light collected by the second optical fiber andminimize direct light from a welding arc collected by the second opticalfiber.
 16. The travel speed sensing system of claim 14, furthercomprising a mechanical linkage configured to couple the fiber alignerto the hand held welding torch, wherein the mechanical linkage isconfigured to allow the fiber aligner to rotate around a torch tip ofthe hand held welding torch, or allow the fiber aligner to move towardsor away from a torch tip of the hand held welding torch.
 17. The travelspeed sensing system of claim 3, wherein the visible pattern comprises apainted or taped pattern.
 18. The travel speed sensing system of claim16, wherein the mechanical linkage comprises a joint configured tomaintain the fiber aligner at a constant angle.
 19. A travel speedsensing system comprising: a hand held welding torch; an image sensorcoupled to the hand held welding torch, the image sensor beingconfigured to capture images of a surrounding environment; and a torchmonitor comprising processing circuitry and memory circuitry, the memorycircuitry comprising machine readable instructions that, when executed,cause the processing circuitry to: identify, during a welding operation,a feature of the surrounding environment in the images captured by theimage sensor coupled to the hand held welding torch, track, over aperiod of time, a motion of the feature in successive images of theimages captured by the image sensor, and determine, during the weldingoperation, a real-time travel speed of the hand held welding torch, or areal-time travel direction of the hand held welding torch, based on themotion of the feature tracked in the successive images of the imagescaptured by the image sensor.
 20. A travel speed sensing system,comprising: a hand held welding torch; an image sensor coupled to thehand held welding torch, the image sensor being configured to captureimages of a surrounding environment; and a torch monitor comprisingprocessing circuitry and memory circuitry, the memory circuitrycomprising machine readable instructions that, when executed, cause theprocessing circuitry to: identify, during a welding operation, one ormore features of the surrounding environment in the images captured bythe image sensor coupled to the hand held welding torch, track, over aperiod of time, a motion of the one or more features identified in theimages captured by the image sensor coupled to the hand held weldingtorch, and determine, during the welding operation, a real-time travelspeed of the hand held welding torch, or a real-time travel direction ofthe hand held welding torch, based on the motion of the one or morefeatures identified in the images captured by the image sensor coupledto the hand held welding torch.